version: 66.02
glider: 23
mission: 2
dive: 129
start: 9 24 107 22 23 32
data:
$ID,23
$MISSION,2
$DIVE,129
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28962.535
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,221833,4739.799,-12251.780,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.0
$GPS2,222209,4739.806,-12251.787,10,1.4,10,18.3
$SPEED_LIMITS,0.204,0.214
$TGT_NAME,T4
$TGT_LATLONG,4740.500,-12249.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.201,0.071
$KALMAN_X,6312.1,39.0,-117.4,-4785.6,-27.4
$KALMAN_Y,6446.7,-23.4,-85.3,-6294.7,-0.6
$MHEAD_RNG_PITCHd_Wd,52.3,3706,-13.8,-7.407
$D_GRID,123
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.97,-97.8,0.0,0.0,0,77,0.00,0.00,-55.90,0.000,2,0.000,0.000,368,2168,3223
$GC,80,-0.97,-97.8,2.1,-3.3,9,122,11.32,0.00,-23.92,0.000,6,0.148,0.000,2393,2169,3884
$GC,187,-0.97,-97.8,8.6,-6.2,26,194,0.00,2.38,0.00,0.000,4,0.000,0.048,2393,3538,3886
$GC,286,-0.97,-97.8,13.4,-3.9,41,292,0.00,2.33,0.00,0.000,6,0.000,0.033,2393,2156,3886
$GC,358,-0.97,-97.8,16.7,-4.9,52,364,0.00,2.88,0.00,0.000,4,0.000,0.051,2393,734,3887
$GC,383,-0.97,-97.8,18.0,-5.1,56,390,0.00,2.75,0.00,0.000,6,0.000,0.029,2393,2142,3887
$GC,455,-0.97,-97.8,21.6,-5.0,65,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2142,3887
$GC,646,-0.97,-97.8,29.8,-4.2,80,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2141,3888
$GC,834,-0.97,-97.8,38.0,-4.6,95,838,0.00,2.88,0.00,0.000,4,0.000,0.050,2393,733,3888
$GC,911,-0.97,-97.8,42.2,-6.0,100,919,0.00,2.80,0.00,0.000,6,0.000,0.031,2393,2149,3888
$GC,1107,-0.97,-97.8,51.9,-4.7,116,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2147,3888
$GC,1298,-0.97,-97.8,61.4,-5.6,131,1302,0.00,2.88,0.00,0.000,4,0.000,0.051,2393,739,3888
$GC,1335,-0.97,-97.8,63.9,-6.8,133,1343,0.00,2.80,0.00,0.000,6,0.000,0.030,2393,2154,3888
$GC,1532,-0.97,-97.8,74.8,-5.2,149,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2152,3888
$GC,1723,-0.97,-97.8,83.0,-5.2,164,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2152,3888
$GC,1910,-0.97,-97.8,95.6,-6.4,179,1914,0.00,2.45,0.00,0.000,4,0.000,0.051,2393,3569,3888
$STATE,1979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1979,begin apogee
$GC,1986,-0.31,0.0,100.3,5.9,184,2066,0.70,0.00,76.12,0.746,6,0.087,0.000,2537,2037,3485
$STATE,2067,end apogee,CONTROL_FINISHED_OK
$STATE,2067,begin climb
$GC,2068,0.97,97.8,102.1,0.0,191,2154,1.33,2.97,73.80,0.732,4,0.067,0.057,2816,650,3084
$GC,2198,0.97,97.8,95.2,7.8,201,2206,0.00,2.80,0.00,0.000,6,0.000,0.029,2816,2051,3085
$GC,2395,0.97,97.8,81.1,8.2,217,2400,0.00,2.92,0.00,0.000,4,0.000,0.057,2816,647,3084
$GC,2434,0.97,97.8,77.6,9.2,219,2441,0.00,2.78,0.00,0.000,6,0.000,0.030,2816,2056,3084
$GC,2629,0.97,97.8,61.8,8.1,235,2633,0.00,2.92,0.00,0.000,4,0.000,0.056,2816,649,3084
$GC,2674,0.97,97.8,57.8,8.2,238,2682,0.00,2.80,0.00,0.000,6,0.000,0.030,2816,2055,3083
$GC,2870,0.97,97.8,41.8,7.9,254,2875,0.00,2.92,0.00,0.000,4,0.000,0.058,2816,645,3084
$GC,2941,0.97,97.8,35.5,8.9,259,2949,0.00,2.80,0.00,0.000,6,0.000,0.030,2816,2052,3084
$GC,3138,0.97,97.8,20.1,7.5,275,3142,0.00,2.92,0.00,0.000,4,0.000,0.056,2816,640,3084
$GC,3184,0.99,116.0,16.8,6.8,281,3203,0.00,2.78,13.40,0.709,6,0.000,0.031,2816,2053,3011
$GC,3269,0.99,116.0,10.5,7.9,294,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2053,3010
$GC,3340,1.01,132.7,5.7,6.8,305,3359,0.00,2.50,12.07,0.705,4,0.000,0.048,2816,3465,2942
$GC,3405,1.16,270.8,2.5,2.6,315,3426,0.20,2.45,14.90,0.690,2,0.050,0.036,2866,2037,2837
$STATE,3426,end climb,SURFACE_DEPTH_REACHED
$STATE,3427,begin surface coast
$FINISH,1.6,1.020508
$STATE,3431,end surface coast,CONTROL_FINISHED_OK
$STATE,3431,begin surface
$SM_CCo,3451,89.38,0.646,0,0,2056,350.04
$SM_GC,1.01,0.00,0.00,89.38,0.000,0.000,0.646,367,2167,2056,-10.32,0.48,350.04
$IRIDIUM_FIX,4722.92,-12249.11,250907,010133
$TT8_MAMPS,0.026845
$HUMID,2141
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,26.7
$24V_AH,24.0,11.861
$10V_AH,10.2,4.924
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.150,60.525,190.300,89.375,0.000,39.918,31.257,74.696,1.000,0.000,0.000,12.066,612.588,1994.701,407.655,549.452,239.999,33.378,747.368,0.000,541.342,0.000,5.534
$DEVICE_MAMPS,148.031,57.525,745.524,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,214.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9568,319
$CFSIZE,260034560,254459904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240907,232355,4739.928,-12251.387,30,0.8,41,18.3